Yingxue Zhang — Papers on Cortexa

arxivcs.RO2026-07-20

RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning

Jinbang Huang, Yuanzhao Hu, Zhiyuan Li, Ran Qi, Yixin Xiao, Zhanguang Zhang, et al.

Long-horizon robotic tasks require diverse capabilities that no single policy can reliably provide. Heterogeneous policies offer complementary strengths, but orchestrating them requires reasoning over uncertain capability boundaries and cross-policy distribution mismatch, which a…

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arxivcs.CVcs.AI2026-07-20

Anticipate Before Acting: Future-State-Conditioned Vision-Language Navigation

Lingfeng Zhang, Zhanguang Zhang, Liheng Ma, Tongtong Cao, Yingxue Zhang

End-to-end vision-language navigation (VLN) with causal vision-language models maps instructions and egocentric observations directly to actions, but standard behavior cloning supervises only the next action and does not explicitly encourage the policy state to be predictive of f…

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